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<pre><span class="sourceLineNo">001</span>package calibration_demos_more;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import java.awt.Color;<a name="line.3"></a>
<span class="sourceLineNo">004</span>import java.awt.geom.Point2D;<a name="line.4"></a>
<span class="sourceLineNo">005</span><a name="line.5"></a>
<span class="sourceLineNo">006</span>import org.apache.commons.math3.complex.Quaternion;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import org.apache.commons.math3.geometry.euclidean.threed.Rotation;<a name="line.7"></a>
<span class="sourceLineNo">008</span><a name="line.8"></a>
<span class="sourceLineNo">009</span>import ij.IJ;<a name="line.9"></a>
<span class="sourceLineNo">010</span>import ij.ImagePlus;<a name="line.10"></a>
<span class="sourceLineNo">011</span>import ij.ImageStack;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import ij.plugin.PlugIn;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import ij.process.ColorProcessor;<a name="line.13"></a>
<span class="sourceLineNo">014</span>import ij.process.ImageProcessor;<a name="line.14"></a>
<span class="sourceLineNo">015</span>import imagingbook.calibration.zhang.Camera;<a name="line.15"></a>
<span class="sourceLineNo">016</span>import imagingbook.calibration.zhang.ViewTransform;<a name="line.16"></a>
<span class="sourceLineNo">017</span>import imagingbook.calibration.zhang.testdata.ZhangData;<a name="line.17"></a>
<span class="sourceLineNo">018</span>import imagingbook.calibration.zhang.util.GridPainter;<a name="line.18"></a>
<span class="sourceLineNo">019</span>import imagingbook.calibration.zhang.util.MathUtil;<a name="line.19"></a>
<span class="sourceLineNo">020</span>import imagingbook.lib.ij.IjLogStream;<a name="line.20"></a>
<span class="sourceLineNo">021</span>import imagingbook.lib.settings.PrintPrecision;<a name="line.21"></a>
<span class="sourceLineNo">022</span>import imagingbook.lib.util.ResourceUtils;<a name="line.22"></a>
<span class="sourceLineNo">023</span><a name="line.23"></a>
<span class="sourceLineNo">024</span>/**<a name="line.24"></a>
<span class="sourceLineNo">025</span> * This plugin performs interpolation of views, given a sequence<a name="line.25"></a>
<span class="sourceLineNo">026</span> * of key views.<a name="line.26"></a>
<span class="sourceLineNo">027</span> * Translations (3D camera positions) are interpolated linearly.<a name="line.27"></a>
<span class="sourceLineNo">028</span> * Pairs of rotations are interpolated by linear mixture<a name="line.28"></a>
<span class="sourceLineNo">029</span> * of the corresponding quaternion representations (see<a name="line.29"></a>
<span class="sourceLineNo">030</span> * http://www.opengl-tutorial.org/intermediate-tutorials/tutorial-17-quaternions/#How_do_I_interpolate_between_2_quaternions__).<a name="line.30"></a>
<span class="sourceLineNo">031</span> *<a name="line.31"></a>
<span class="sourceLineNo">032</span> * @author W. Burger<a name="line.32"></a>
<span class="sourceLineNo">033</span> * @version 2017-05-30<a name="line.33"></a>
<span class="sourceLineNo">034</span> *<a name="line.34"></a>
<span class="sourceLineNo">035</span> */<a name="line.35"></a>
<span class="sourceLineNo">036</span>public class Demo_View_Interpolation implements PlugIn {<a name="line.36"></a>
<span class="sourceLineNo">037</span><a name="line.37"></a>
<span class="sourceLineNo">038</span>        static Class&lt;?&gt; resourceRootClass = ZhangData.class;<a name="line.38"></a>
<span class="sourceLineNo">039</span>        static String resourceDir = "resources/";<a name="line.39"></a>
<span class="sourceLineNo">040</span>        static String resourceName = "CalibImageStack.tif";<a name="line.40"></a>
<span class="sourceLineNo">041</span><a name="line.41"></a>
<span class="sourceLineNo">042</span>        static int NumberOfInterpolatedFrames = 10;<a name="line.42"></a>
<span class="sourceLineNo">043</span>        static double PeakHeightZ = -1.5;<a name="line.43"></a>
<span class="sourceLineNo">044</span><a name="line.44"></a>
<span class="sourceLineNo">045</span>        static Color LineColor = Color.black;<a name="line.45"></a>
<span class="sourceLineNo">046</span>        static Color BackGroundColor = Color.white;<a name="line.46"></a>
<span class="sourceLineNo">047</span>        static boolean BeVerbose = false;<a name="line.47"></a>
<span class="sourceLineNo">048</span><a name="line.48"></a>
<span class="sourceLineNo">049</span>        static {<a name="line.49"></a>
<span class="sourceLineNo">050</span>                IjLogStream.redirectSystem();<a name="line.50"></a>
<span class="sourceLineNo">051</span>                PrintPrecision.set(6);<a name="line.51"></a>
<span class="sourceLineNo">052</span>        }<a name="line.52"></a>
<span class="sourceLineNo">053</span><a name="line.53"></a>
<span class="sourceLineNo">054</span>        public void run(String arg0) {<a name="line.54"></a>
<span class="sourceLineNo">055</span>                ImagePlus testIm = ResourceUtils.openImageFromResource(resourceRootClass, resourceDir, resourceName);<a name="line.55"></a>
<span class="sourceLineNo">056</span><a name="line.56"></a>
<span class="sourceLineNo">057</span>                if (testIm == null) {<a name="line.57"></a>
<span class="sourceLineNo">058</span>                        IJ.error("Could not open calibration images!"); <a name="line.58"></a>
<span class="sourceLineNo">059</span>                        return;<a name="line.59"></a>
<span class="sourceLineNo">060</span>                }<a name="line.60"></a>
<span class="sourceLineNo">061</span><a name="line.61"></a>
<span class="sourceLineNo">062</span>                Camera cam = ZhangData.getCameraIntrinsics();<a name="line.62"></a>
<span class="sourceLineNo">063</span>                Point2D[] modelPoints = ZhangData.getModelPoints();<a name="line.63"></a>
<span class="sourceLineNo">064</span><a name="line.64"></a>
<span class="sourceLineNo">065</span>                int w = testIm.getWidth();<a name="line.65"></a>
<span class="sourceLineNo">066</span>                int h = testIm.getHeight();<a name="line.66"></a>
<span class="sourceLineNo">067</span>                int M = testIm.getNSlices();<a name="line.67"></a>
<span class="sourceLineNo">068</span><a name="line.68"></a>
<span class="sourceLineNo">069</span>                ImageStack animation = new ImageStack(w, h);<a name="line.69"></a>
<span class="sourceLineNo">070</span><a name="line.70"></a>
<span class="sourceLineNo">071</span>                for (int a = 0; a &lt; M; a++) {<a name="line.71"></a>
<span class="sourceLineNo">072</span>                        int b = (a + 1) % M;<a name="line.72"></a>
<span class="sourceLineNo">073</span>                        ViewTransform viewA = ZhangData.getViewTransform(a);    // view A<a name="line.73"></a>
<span class="sourceLineNo">074</span>                        ViewTransform viewB = ZhangData.getViewTransform(b);    // view B<a name="line.74"></a>
<span class="sourceLineNo">075</span>                        if (BeVerbose)<a name="line.75"></a>
<span class="sourceLineNo">076</span>                                System.out.println("**** doing views " + a +"/"+ ((a + 1) % M));<a name="line.76"></a>
<span class="sourceLineNo">077</span><a name="line.77"></a>
<span class="sourceLineNo">078</span>                        Rotation rA = viewA.getRotation();<a name="line.78"></a>
<span class="sourceLineNo">079</span>                        Rotation rB = viewB.getRotation();<a name="line.79"></a>
<span class="sourceLineNo">080</span>                        double[] tA = viewA.getTranslation();<a name="line.80"></a>
<span class="sourceLineNo">081</span>                        double[] tB = viewB.getTranslation();<a name="line.81"></a>
<span class="sourceLineNo">082</span><a name="line.82"></a>
<span class="sourceLineNo">083</span>                        // interpolation step k for view pair (a,b)<a name="line.83"></a>
<span class="sourceLineNo">084</span>                        for (int k = 0; k &lt; NumberOfInterpolatedFrames; k++) {<a name="line.84"></a>
<span class="sourceLineNo">085</span>                                double alpha = (double) k / NumberOfInterpolatedFrames;<a name="line.85"></a>
<span class="sourceLineNo">086</span><a name="line.86"></a>
<span class="sourceLineNo">087</span>                                // interpolate rotation<a name="line.87"></a>
<span class="sourceLineNo">088</span>                                Rotation rk = Lerp(rA, rB, alpha);<a name="line.88"></a>
<span class="sourceLineNo">089</span><a name="line.89"></a>
<span class="sourceLineNo">090</span>                                // interpolate translation:<a name="line.90"></a>
<span class="sourceLineNo">091</span>                                double[] tk = Lerp(tA, tB, alpha);<a name="line.91"></a>
<span class="sourceLineNo">092</span><a name="line.92"></a>
<span class="sourceLineNo">093</span>                                ViewTransform viewK = new ViewTransform(rk, tk);<a name="line.93"></a>
<span class="sourceLineNo">094</span>                                //viewK.print();<a name="line.94"></a>
<span class="sourceLineNo">095</span><a name="line.95"></a>
<span class="sourceLineNo">096</span>                                // Create a new frame for the interpolated view<a name="line.96"></a>
<span class="sourceLineNo">097</span>                                // and project the target model:<a name="line.97"></a>
<span class="sourceLineNo">098</span>                                ImageProcessor frame = new ColorProcessor(w, h);<a name="line.98"></a>
<span class="sourceLineNo">099</span>                                if (BackGroundColor != null) {<a name="line.99"></a>
<span class="sourceLineNo">100</span>                                        frame.setColor(BackGroundColor);<a name="line.100"></a>
<span class="sourceLineNo">101</span>                                        frame.fill();<a name="line.101"></a>
<span class="sourceLineNo">102</span>                                }<a name="line.102"></a>
<span class="sourceLineNo">103</span>                                projectAndDrawPyramids(frame, cam, viewK, modelPoints);<a name="line.103"></a>
<span class="sourceLineNo">104</span>                                String title = String.format("frame-%d-%d", a, k);<a name="line.104"></a>
<span class="sourceLineNo">105</span>                                animation.addSlice(title, frame);<a name="line.105"></a>
<span class="sourceLineNo">106</span>                        }<a name="line.106"></a>
<span class="sourceLineNo">107</span>                }<a name="line.107"></a>
<span class="sourceLineNo">108</span><a name="line.108"></a>
<span class="sourceLineNo">109</span>                new ImagePlus("Animation", animation).show();<a name="line.109"></a>
<span class="sourceLineNo">110</span>        }<a name="line.110"></a>
<span class="sourceLineNo">111</span><a name="line.111"></a>
<span class="sourceLineNo">112</span>        Rotation Lerp(Rotation R0, Rotation R1, double alpha) {<a name="line.112"></a>
<span class="sourceLineNo">113</span>                Quaternion qa = MathUtil.toQuaternion(R0);<a name="line.113"></a>
<span class="sourceLineNo">114</span>                Quaternion qb = MathUtil.toQuaternion(R1);<a name="line.114"></a>
<span class="sourceLineNo">115</span>                return MathUtil.toRotation(Lerp(qa, qb, alpha));<a name="line.115"></a>
<span class="sourceLineNo">116</span>        }<a name="line.116"></a>
<span class="sourceLineNo">117</span><a name="line.117"></a>
<span class="sourceLineNo">118</span>        /**<a name="line.118"></a>
<span class="sourceLineNo">119</span>         * Linear quaternion interpolation (LERP)<a name="line.119"></a>
<span class="sourceLineNo">120</span>         * @param Q0<a name="line.120"></a>
<span class="sourceLineNo">121</span>         * @param Q1<a name="line.121"></a>
<span class="sourceLineNo">122</span>         * @param a<a name="line.122"></a>
<span class="sourceLineNo">123</span>         * @return<a name="line.123"></a>
<span class="sourceLineNo">124</span>         */<a name="line.124"></a>
<span class="sourceLineNo">125</span>        Quaternion Lerp(Quaternion Q0, Quaternion Q1, double a) {<a name="line.125"></a>
<span class="sourceLineNo">126</span>                return Quaternion.add(Q0.multiply(1 - a), Q1.multiply(a));<a name="line.126"></a>
<span class="sourceLineNo">127</span>        }<a name="line.127"></a>
<span class="sourceLineNo">128</span><a name="line.128"></a>
<span class="sourceLineNo">129</span>        /**<a name="line.129"></a>
<span class="sourceLineNo">130</span>         * Linear translation interpolation<a name="line.130"></a>
<span class="sourceLineNo">131</span>         * @param t0<a name="line.131"></a>
<span class="sourceLineNo">132</span>         * @param t1<a name="line.132"></a>
<span class="sourceLineNo">133</span>         * @param a<a name="line.133"></a>
<span class="sourceLineNo">134</span>         * @return<a name="line.134"></a>
<span class="sourceLineNo">135</span>         */<a name="line.135"></a>
<span class="sourceLineNo">136</span>        double[] Lerp(double[] t0, double[] t1, double a) {<a name="line.136"></a>
<span class="sourceLineNo">137</span>                double[] t01 = t0.clone();<a name="line.137"></a>
<span class="sourceLineNo">138</span>                for (int i = 0; i &lt; t01.length; i++) {<a name="line.138"></a>
<span class="sourceLineNo">139</span>                        t01[i] = (1 - a) * t0[i] + a * t1[i];<a name="line.139"></a>
<span class="sourceLineNo">140</span>                }<a name="line.140"></a>
<span class="sourceLineNo">141</span>                return t01;<a name="line.141"></a>
<span class="sourceLineNo">142</span>        }<a name="line.142"></a>
<span class="sourceLineNo">143</span><a name="line.143"></a>
<span class="sourceLineNo">144</span>        // ----------------------------------------------------------------------<a name="line.144"></a>
<span class="sourceLineNo">145</span><a name="line.145"></a>
<span class="sourceLineNo">146</span>        // draw pyramids instead of squares at Z = PeakHeightZ (inch)<a name="line.146"></a>
<span class="sourceLineNo">147</span>        void projectAndDrawPyramids(ImageProcessor ip, Camera cam, ViewTransform view, Point2D[] modelPoints) {<a name="line.147"></a>
<span class="sourceLineNo">148</span>                GridPainter painter = new GridPainter(ip);<a name="line.148"></a>
<span class="sourceLineNo">149</span>                for (int i = 0; i &lt; modelPoints.length; i += 4) {<a name="line.149"></a>
<span class="sourceLineNo">150</span>                        Point2D[] modelSq = new Point2D[4];<a name="line.150"></a>
<span class="sourceLineNo">151</span>                        Point2D[] imageSq = new Point2D[4];<a name="line.151"></a>
<span class="sourceLineNo">152</span>                        // 3D points p0,...,p3 define a model square in the Z=0 plane<a name="line.152"></a>
<span class="sourceLineNo">153</span>                        for (int j = 0; j &lt; 4; j++) {<a name="line.153"></a>
<span class="sourceLineNo">154</span>                                modelSq[j] = modelPoints[i + j];<a name="line.154"></a>
<span class="sourceLineNo">155</span>                                imageSq[j] = MathUtil.toPoint2D(cam.project(view, modelSq[j]));<a name="line.155"></a>
<span class="sourceLineNo">156</span>                        }<a name="line.156"></a>
<span class="sourceLineNo">157</span>                        painter.lineCol = LineColor;<a name="line.157"></a>
<span class="sourceLineNo">158</span>                        painter.drawSquare(imageSq);<a name="line.158"></a>
<span class="sourceLineNo">159</span><a name="line.159"></a>
<span class="sourceLineNo">160</span>                        // make the 3D pyramid peak:<a name="line.160"></a>
<span class="sourceLineNo">161</span>                        double[] modelPeak3d = new double[3];<a name="line.161"></a>
<span class="sourceLineNo">162</span>                        modelPeak3d[0] = (modelSq[0].getX() + modelSq[2].getX()) / 2;   // X<a name="line.162"></a>
<span class="sourceLineNo">163</span>                        modelPeak3d[1] = (modelSq[0].getY() + modelSq[2].getY()) / 2;   // Y<a name="line.163"></a>
<span class="sourceLineNo">164</span>                        modelPeak3d[2] = PeakHeightZ;   // Z<a name="line.164"></a>
<span class="sourceLineNo">165</span><a name="line.165"></a>
<span class="sourceLineNo">166</span>                        // project and draw the pyramid peak:<a name="line.166"></a>
<span class="sourceLineNo">167</span>                        Point2D pk = MathUtil.toPoint2D(cam.project(view, modelPeak3d));<a name="line.167"></a>
<span class="sourceLineNo">168</span>                        painter.drawLine(imageSq[0], pk);<a name="line.168"></a>
<span class="sourceLineNo">169</span>                        painter.drawLine(imageSq[1], pk);<a name="line.169"></a>
<span class="sourceLineNo">170</span>                        painter.drawLine(imageSq[2], pk);<a name="line.170"></a>
<span class="sourceLineNo">171</span>                        painter.drawLine(imageSq[3], pk);<a name="line.171"></a>
<span class="sourceLineNo">172</span>                }<a name="line.172"></a>
<span class="sourceLineNo">173</span>        }<a name="line.173"></a>
<span class="sourceLineNo">174</span><a name="line.174"></a>
<span class="sourceLineNo">175</span>}<a name="line.175"></a>




























































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